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stop instantiating new pipes every tick

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Matt
2019-11-24 16:54:10 -08:00
parent 80d4451e56
commit d53f047ad7
11 changed files with 127 additions and 36 deletions
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52
Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
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@@ -1,5 +1,6 @@
package com.chameleonvision.vision.pipeline;
import com.chameleonvision.vision.camera.CameraProcess;
import com.chameleonvision.vision.camera.CameraStaticProperties;
import com.chameleonvision.vision.pipeline.pipes.*;
import com.chameleonvision.vision.enums.ImageRotation;
@@ -16,6 +17,16 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
private Mat rawCameraMat = new Mat();
private Mat hsvOutputMat = new Mat();
private RotateFlipPipe rotateFlipPipe;
private BlurPipe blurPipe;
private ErodeDilatePipe erodeDilatePipe;
private HsvPipe hsvPipe;
private FindContoursPipe findContoursPipe;
private FilterContoursPipe filterContoursPipe;
private SpeckleRejectPipe speckleRejectPipe;
private GroupContoursPipe groupContoursPipe;
private SortContoursPipe sortContoursPipe;
private Collect2dTargetsPipe collect2dTargetsPipe;
public CVPipeline2d() {
super(new CVPipeline2dSettings());
@@ -29,6 +40,27 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
super(settings);
}
@Override
public void initPipeline(CameraProcess process) {
super.initPipeline(process);
var camProps = cameraProcess.getProperties().staticProperties;
var hsvLower = new Scalar(settings.hue.get(0).intValue(), settings.saturation.get(0).intValue(), settings.value.get(0).intValue());
var hsvUpper = new Scalar(settings.hue.get(1).intValue(), settings.saturation.get(1).intValue(), settings.value.get(1).intValue());
rotateFlipPipe = new RotateFlipPipe(ImageRotation.DEG_0, settings.flipMode);
blurPipe = new BlurPipe(5);
erodeDilatePipe = new ErodeDilatePipe(settings.erode, settings.dilate, 7);
hsvPipe = new HsvPipe(hsvLower, hsvUpper);
findContoursPipe = new FindContoursPipe();
filterContoursPipe = new FilterContoursPipe(settings.area, settings.ratio, settings.extent, camProps);
speckleRejectPipe = new SpeckleRejectPipe(settings.speckle.doubleValue());
groupContoursPipe = new GroupContoursPipe(settings.targetGroup, settings.targetIntersection);
sortContoursPipe = new SortContoursPipe(settings.sortMode, camProps);
collect2dTargetsPipe = new Collect2dTargetsPipe(settings.calibrationMode, settings.point,
settings.dualTargetCalibrationM, settings.dualTargetCalibrationB, camProps);
}
@Override
public CVPipeline2dResult runPipeline(Mat inputMat) {
long totalProcessTimeNanos = 0;
@@ -50,21 +82,19 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
// rawCameraMat = inputMat;
// prepare pipes
RotateFlipPipe rotateFlipPipe = new RotateFlipPipe(ImageRotation.DEG_0, settings.flipMode);
BlurPipe blurPipe = new BlurPipe(5);
ErodeDilatePipe erodeDilatePipe = new ErodeDilatePipe(settings.erode, settings.dilate, 7);
Scalar hsvLower = new Scalar(settings.hue.get(0).intValue(), settings.saturation.get(0).intValue(), settings.value.get(0).intValue());
Scalar hsvUpper = new Scalar(settings.hue.get(1).intValue(), settings.saturation.get(1).intValue(), settings.value.get(1).intValue());
HsvPipe hsvPipe = new HsvPipe(hsvLower, hsvUpper);
FindContoursPipe findContoursPipe = new FindContoursPipe();
FilterContoursPipe filterContoursPipe = new FilterContoursPipe(settings.area, settings.ratio, settings.extent, camProps);
SpeckleRejectPipe speckleRejectPipe = new SpeckleRejectPipe(settings.speckle.doubleValue());
GroupContoursPipe groupContoursPipe = new GroupContoursPipe(settings.targetGroup, settings.targetIntersection);
SortContoursPipe sortContoursPipe = new SortContoursPipe(settings.sortMode, camProps);
Collect2dTargetsPipe collect2dTargetsPipe = new Collect2dTargetsPipe(settings.calibrationMode, settings.point,
rotateFlipPipe.setConfig(ImageRotation.DEG_0, settings.flipMode);
blurPipe.setConfig(5);
erodeDilatePipe.setConfig(settings.erode, settings.dilate, 7);
hsvPipe.setConfig(hsvLower, hsvUpper);
filterContoursPipe.setConfig(settings.area, settings.ratio, settings.extent, camProps);
speckleRejectPipe.setConfig(settings.speckle.doubleValue());
groupContoursPipe.setConfig(settings.targetGroup, settings.targetIntersection);
sortContoursPipe.setConfig(settings.sortMode, camProps);
collect2dTargetsPipe.setConfig(settings.calibrationMode, settings.point,
settings.dualTargetCalibrationM, settings.dualTargetCalibrationB, camProps);
OutputMatPipe outputMatPipe = new OutputMatPipe(settings.isBinary);